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I am using a stereo camera set up which I need to recalibrate every time I want to use it. Is there anyway to save the best camera calibraiton parameters I got and just reuse them?
It would probably only work under the assumption that the camera's do not change in orientation with respect to each other, which is fairly trivial to do.
The next time you calibrate the cameras save the calibration parameters in a .yaml file. Next time you launch the usb_cam node, enter the file path in the camera_info_url parameter. It is easier if you use a launch file so you don't have to remember to do it every time.
Thought I'd answer my own question because I figured a way to do it.
Once you have calibrated your camera and clicked the save and commit button you will find a file
/tmp/calibrationdata.tar.gz
Copy it to some location and then extract it as
tar -xzf calibrationdata.tar.gz
You will get a left.yaml and right.yaml file. If not use this to get the files.
Once that's done you will need a launch file that looks something like this
<group ns="stereo">
<node pkg="uvc_camera" type="uvc_stereo_node" name="uvc_camera_stereo">
<param name="width" type="int" value="640" />
<param name="height" type="int" value="480" />
<param name="fps" type="int" value="30" />
<param name="frame" type="string" value="wide_stereo" />
<param name="auto_focus" type="bool" value="False" />
<param name="focus_absolute" type="int" value="0" />
<!-- other supported params: auto_exposure, exposure_absolute, brightness, power_line_frequency -->
<param name="left/device" type="string" value="/dev/video1" />
<param name="right/device" type="string" value="/dev/video2" />
<param name="left/camera_info_url" type="string" value="file://$(find ksas)/cameracalibration/left.yaml" />
<param name="right/camera_info_url" type="string" value="file://$(find ksas)/cameracalibration/right.yaml" />
</node>
</group>
Note:
ksas
is the name of the package I have written.
Asked: 2016-04-10 13:44:40 -0500
Seen: 677 times
Last updated: Apr 20 '16
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Most of the ROS camera drivers already have functionality for storing the camera calibration on disk or on the camera, and reloading it at startup. Which camera driver are you using?
The usb_cam driver.